🎨 Moving project to use event bus

esp32/include/adapters/bluetooth.hpp

@@ -14,21 +14,8 @@ class BluetoothService : public CommBase<> {
     BLECharacteristic* rxCharacteristic {nullptr};
     bool connected {false};
 
-  protected:
-    template <typename Msg>
-    using EventBusHandle = typename EventBus<Msg>::Handle;
-
-    template <typename Msg>
-    EventBusHandle<Msg>& getHandle(Topic topic) {
-        return *static_cast<EventBusHandle<Msg>*>(subscriptionHandle[static_cast<size_t>(topic)]);
-    }
-
-    template <typename Msg>
-    void setHandle(Topic topic, EventBusHandle<Msg>&& handle) {
-        subscriptionHandle[static_cast<size_t>(topic)] = new EventBusHandle<Msg>(std::move(handle));
-    }
-
-    std::array<void*, static_cast<size_t>(Topic::COUNT)> subscriptionHandle {};
+  public:
+    void begin(const char* name);
 
   private:
     void handleReceive(const std::string& data);
@@ -53,8 +40,4 @@ class BluetoothService : public CommBase<> {
             if (!v.empty()) svc->handleReceive(v);
         }
     };
-
-  public:
-    void begin(const char* name);
-    void loop() {}
 };

esp32/include/adapters/comm_base.hpp

@@ -1,4 +1,5 @@
 #pragma once
+#include "event_bus.hpp"
 #include <ArduinoJson.h>
 #include <array>
 #include <bitset>
@@ -17,6 +18,8 @@ class CommBase {
     std::array<Bits, NTopics> subs_;
     portMUX_TYPE mux_ portMUX_INITIALIZER_UNLOCKED;
 
+    std::array<void*, static_cast<size_t>(Topic::COUNT)> subscriptionHandle {};
+
     static constexpr size_t idx(Topic t) { return static_cast<size_t>(t); }
 
     template <Topic T>
@@ -30,6 +33,18 @@ class CommBase {
   protected:
     virtual void send(size_t cid, const char* data, size_t len) = 0;
 
+    template <class Msg>
+    auto& getHandle(Topic topic) {
+        using H = typename EventBus<Msg>::Handle;
+        return *static_cast<H*>(subscriptionHandle[static_cast<size_t>(topic)]);
+    }
+
+    template <class Msg>
+    void setHandle(Topic topic, typename EventBus<Msg>::Handle&& h) {
+        using H = typename EventBus<Msg>::Handle;
+        subscriptionHandle[static_cast<size_t>(topic)] = new H(std::move(h));
+    }
+
   public:
     void subscribe(Topic t, size_t cid) {
         portENTER_CRITICAL(&mux_);

esp32/include/adapters/websocket.hpp

@@ -0,0 +1,42 @@
+#ifndef Socket_h
+#define Socket_h
+
+#include <PsychicHttp.h>
+#include <ArduinoJson.h>
+#include <map>
+#include <list>
+#include <functional>
+
+#include "event_bus.hpp"
+#include "adapters/comm_base.hpp"
+#include "topic.hpp"
+// #include "msgs/motion_input_msg.hpp"
+// #include "msgs/motion_angles_msg.hpp"
+// #include "msgs/motion_position_msg.hpp"
+// #include "msgs/motion_mode_msg.hpp"
+
+// typedef std::function<void(JsonObject &root, int originId)> EventCallback;
+
+class EventSocket : public CommBase<> {
+    PsychicWebSocketHandler _socket;
+
+  public:
+    EventSocket();
+    PsychicWebSocketHandler *getHandler() { return &_socket; }
+
+  private:
+    void send(size_t clientId, const char *data, size_t len) override;
+
+    void handleReceive(const std::string &data);
+    // void handleTypedMessage(const std::string &data);
+    // void handleLegacyMessage(const std::string &data, int originId);
+    // void handleEventCallbacks(String event, JsonObject &jsonObject, int originId);
+
+    void onWSOpen(PsychicWebSocketClient *client);
+    void onWSClose(PsychicWebSocketClient *client);
+    esp_err_t onFrame(PsychicWebSocketRequest *request, httpd_ws_frame *frame);
+};
+
+extern EventSocket socket;
+
+#endif